A finite-time convergence motion control method for parallel manipulators against external disturbances
A technology of external interference and motion control, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of failure of tracking control tasks, inability to effectively resist external interference, low-precision tracking, etc., and achieve resistance to external interference effect
Active Publication Date: 2022-03-22
HANGZHOU DIANZI UNIV
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Problems solved by technology
In the past, the traditional parallel manipulator tracking control method was usually unable to effectively resist external disturbances, and the solution error could not converge within a limited time.
The above-mentioned problems have become the "bottleneck" problem of real-time motion control of parallel manipulators, which often leads to low-precision tracking results for a long time when the actuators of parallel manipulators are performing tracking control operations, and even external interference may cause tracking failure of the control task
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[0022] The present invention will be further described below in conjunction with the accompanying drawings.
[0023] figure 1 A finite-time convergence motion control method for parallel manipulators that can resist external disturbances is shown. First, according to the difference between the real-time position of the parallel manipulator actuator and the predefined expected path, the error function and intermediate variables of the tracking control are defined, and the countermeasures are designed. The error dynamic equation of external disturbance; combined with the real-time tracking control task of the parallel manipulator, the kinematic relational expression of the parallel manipulator on the outrigger velocity layer is solved; the kinematic relational expression is further substituted into the error dynamic equation to obtain the parallel mechanical Arm real-time tracking control control signal dynamic equation; finally calculate the real-time parallel manipulator outri...
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The present invention provides a limited-time convergence motion control method of a parallel manipulator capable of resisting external disturbances, comprising the following steps: according to the difference between the real-time position of the actuator on the movement platform of the parallel manipulator in three-dimensional space and the predefined expected path, Define the error function and intermediate variables of the tracking control, and design the error dynamic equation against external disturbance; combine the real-time tracking control task of the parallel manipulator, solve the kinematic relational expression of the parallel manipulator on the outrigger velocity layer; substitute the error dynamic equation, The dynamic equation of the real-time tracking control signal of the parallel manipulator is obtained; the update control signal of the outrigger of the real-time parallel manipulator is calculated, and the obtained result drives the parallel manipulator to perform tracking control operation, so that the actuator on the mobile platform realizes tracking control. The generated position error can be converged in a limited time, and effectively realize the parallel manipulator against external interference.
Description
technical field [0001] The invention relates to the field of mechanical arm motion and robust control, in particular to a limited-time convergent motion control method for parallel mechanical arms that can resist external disturbances. Background technique [0002] Parallel manipulators are usually connected by a mobile platform and a fixed base through at least two or more independent moving legs. Parallel manipulators generally have two or more degrees of freedom and are driven in parallel. A closed-loop control System mechanics. Parallel robotic arms usually have the advantages of no cumulative error, high motion control accuracy, good dynamic response, compact structure, high rigidity, strong load capacity, etc., and can replace human arms to complete high-precision operations, so they are widely used in industry in manufacturing, aerospace and even military equipment. After years of development, the research on real-time motion control of parallel manipulators has mad...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈德潮李帅吴卿
Owner HANGZHOU DIANZI UNIV